An observation based method for human robot writing skill transfer

Li, Xian; Si, Weiyong; Yang, Chenguang

Abstract

This paper proposes a novel method of Chinese character stroke extraction and a framework for human robot skill transfer through vision-based observation. By analyzing the structure of Chinese characters, a direction vector update rule and a pixel finding rule were proposed to find the basic strokes. Then we designed a basic stroke connection algorithm to achieve stroke extraction. Afterward, to adapt to human interference in real-time, we adopt dynamical movement primitives (DMPs) to model writing skills. Finally, the adaptive capability of the method was verified by experiments in which the robot writes Chinese characters on a randomly moved writing board.

• Presentation Conference Type: Conference Paper (Published)
• Conference Name: 2022 IEEE 17th International Conference on Control & Automation (ICCA)
• Start Date: Jun 27, 2022
• End Date: Jun 30, 2022
• Acceptance Date: Apr 6, 2022
• Online Publication Date: Jun 25, 2022
• Publication Date: Jun 27, 2022
• Deposit Date: Aug 15, 2022
• Publicly Available Date: Aug 31, 2022
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• Series ISSN: 1948-3457
• Book Title: 2022 IEEE 17th International Conference on Control & Automation (ICCA)
• ISBN: 9781665495721
• DOI: https://doi.org/10.1109/ICCA54724.2022.9831836
• Keywords: human robot; writing; skill transfer; robot; robotics
• Public URL: https://uwe-repository.worktribe.com/output/9840615
• Publisher URL: https://ieeexplore.ieee.org/document/9831836
• Related Public URLs: https://ieeexplore.ieee.org/xpl/conhome/9831427/proceeding